Cosmetic changes

* Remove useless lines
* Fix documentation

include/hpp/manipulation/manipulation-planner.hh

@@ -46,12 +46,12 @@ namespace hpp {
 
         /// One step of extension.
         /// 
-        /// A set of constraints is choosen using the graph of constraints.
-        /// A constraint extension is done using a choosen set.
+        /// A set of constraints is chosen using the graph of constraints.
+        /// A constraint extension is done using a chosen set.
         ///
         virtual void oneStep ();
 
-        /// Extend a the configuration q_near toward q_rand.
+        /// Extend configuration q_near toward q_rand.
         /// \param q_near the configuration to be extended.
         /// \param q_rand the configuration toward extension is performed.
         /// \retval validPath the longest valid path (possibly of length 0),

src/manipulation-planner.cc

@@ -32,7 +32,6 @@
 #include "hpp/manipulation/problem.hh"
 #include "hpp/manipulation/roadmap.hh"
 #include "hpp/manipulation/roadmap-node.hh"
-#include "hpp/manipulation/graph-steering-method.hh"
 #include "hpp/manipulation/graph/edge.hh"
 #include "hpp/manipulation/graph/node-selector.hh"
 
@@ -186,7 +185,6 @@ namespace hpp {
         return false;
       }
       HPP_STOP_TIMECOUNTER (applyConstraints);
-      GraphSteeringMethodPtr_t sm = problem_.steeringMethod();
       core::PathPtr_t path;
       HPP_START_TIMECOUNTER (buildPath);
       if (!edge->build (path, *q_near, qProj_)) {